template <bool align> void BgrToYuv422p(const uint8_t * bgr, size_t width, size_t height, size_t bgrStride, uint8_t * y, size_t yStride,
uint8_t * u, size_t uStride, uint8_t * v, size_t vStride)
{
assert((width % 2 == 0) && (width >= DA));
if (align)
{
assert(Aligned(y) && Aligned(yStride) && Aligned(u) && Aligned(uStride));
assert(Aligned(v) && Aligned(vStride) && Aligned(bgr) && Aligned(bgrStride));
}
size_t alignedWidth = AlignLo(width, DA);
const size_t A6 = A * 6;
for (size_t row = 0; row < height; ++row)
{
Storer<align> _y(y), _u(u), _v(v);
BgrToYuv422p<align, true>(bgr, _y, _u, _v);
for (size_t col = DA, colBgr = A6; col < alignedWidth; col += DA, colBgr += A6)
BgrToYuv422p<align, false>(bgr + colBgr, _y, _u, _v);
Flush(_y, _u, _v);
if (width != alignedWidth)
{
size_t offset = width - DA;
Storer<false> _y(y + offset), _u(u + offset / 2), _v(v + offset / 2);
BgrToYuv422p<false, true>(bgr + offset * 3, _y, _u, _v);
Flush(_y, _u, _v);
}
y += yStride;
u += uStride;
v += vStride;
bgr += bgrStride;
}
}
template <bool align> void BgrToYuv444p(const uint8_t * bgr, size_t width, size_t height, size_t bgrStride, uint8_t * y, size_t yStride,
uint8_t * u, size_t uStride, uint8_t * v, size_t vStride)
{
assert(width >= A);
if (align)
{
assert(Aligned(y) && Aligned(yStride) && Aligned(u) && Aligned(uStride));
assert(Aligned(v) && Aligned(vStride) && Aligned(bgr) && Aligned(bgrStride));
}
size_t alignedWidth = AlignLo(width, A);
const size_t A3 = A * 3;
for (size_t row = 0; row < height; ++row)
{
Storer<align> _y(y), _u(u), _v(v);
BgrToYuv444p<align, true>(bgr, _y, _u, _v);
for (size_t col = A, colBgr = A3; col < alignedWidth; col += A, colBgr += A3)
BgrToYuv444p<align, false>(bgr + colBgr, _y, _u, _v);
Flush(_y, _u, _v);
if (width != alignedWidth)
{
size_t col = width - A;
Storer<false> _y(y + col), _u(u + col), _v(v + col);
BgrToYuv444p<false, true>(bgr + col * 3, _y, _u, _v);
Flush(_y, _u, _v);
}
y += yStride;
u += uStride;
v += vStride;
bgr += bgrStride;
}
}
template <bool align> void DeinterleaveUv(const uint8_t * uv, size_t uvStride, size_t width, size_t height,
uint8_t * u, size_t uStride, uint8_t * v, size_t vStride)
{
assert(width >= A);
if(align)
assert(Aligned(uv) && Aligned(uvStride) && Aligned(u) && Aligned(uStride) && Aligned(v) && Aligned(vStride));
size_t alignedWidth = AlignLo(width, A);
for(size_t row = 0; row < height; ++row)
{
Loader<align> _uv(uv);
Storer<align> _u(u), _v(v);
DeinterleavedUv<align, true>(_uv, _u, _v);
for(size_t col = A; col < alignedWidth; col += A)
DeinterleavedUv<align, false>(_uv, _u, _v);
Flush(_u, _v);
if(width != alignedWidth)
{
Loader<false> _uv(uv + 2*(width - A));
Storer<false> _u(u + width - A), _v(v + width - A);
DeinterleavedUv<false, true>(_uv, _u, _v);
Flush(_u, _v);
}
uv += uvStride;
u += uStride;
v += vStride;
}
}
tuple2<double, double> *hls_to_rgb(double h, double l, double s) {
double m1, m2;
if ((s==0.0)) {
return (new tuple2<double, double>(3,l,l,l));
}
if ((l<=0.5)) {
m2 = (l*(1.0+s));
}
else {
m2 = ((l+s)-(l*s));
}
m1 = ((2.0*l)-m2);
return (new tuple2<double, double>(3,_v(m1, m2, (h+ONE_THIRD)),_v(m1, m2, h),_v(m1, m2, (h-ONE_THIRD))));
}
void zpt::HTTPReqT::stringify(string& _out) {
_out.insert(_out.length(), zpt::method_names[this->__method]);
_out.insert(_out.length(), " ");
_out.insert(_out.length(), this->__url);
if (this->__params.size() != 0) {
_out.insert(_out.length(), "?");
bool _first = true;
for (auto i : this->__params) {
if (!_first) {
_out.insert(_out.length(), "&");
}
_first = false;
string _n(i.first);
zpt::url::encode(_n);
string _v(i.second);
zpt::url::encode(_v);
_out.insert(_out.length(), _n);
_out.insert(_out.length(), "=");
_out.insert(_out.length(), _v);
}
}
_out.insert(_out.length(), " HTTP/1.1");
_out.insert(_out.length(), CRLF);
for (auto h : this->__headers) {
_out.insert(_out.length(), h.first);
_out.insert(_out.length(), ": ");
_out.insert(_out.length(), h.second);
_out.insert(_out.length(), CRLF);
}
_out.insert(_out.length(), CRLF);
_out.insert(_out.length(), this->__body);
}
void RBCamera::set_position(float x,float y,float z)
{
RBVector4 _v(x-_position.x,y-_position.y,z-_position.z,1);
_position.x = x;
_position.y = y;
_position.z = z;
_forward = _forward - _v;
}
void ODE_Link::setAbsVelocity(hrp::Vector3& v, hrp::Vector3& w){
dBodySetAngularVel(bodyId, w[0], w[1], w[2]);
hrp::Vector3 p;
hrp::Matrix33 R;
getTransform(p, R);
hrp::Vector3 cpos(R*C);
hrp::Vector3 _v(v + w.cross(cpos));
dBodySetLinearVel(bodyId, _v[0], _v[1], _v[2]);
}
void urdf_traverser::applyTransform(const EigenTransform& t, urdf::Vector3& v)
{
Eigen::Vector3d _v(v.x, v.y, v.z);
Eigen::Quaterniond rot(t.rotation());
//ROS_INFO_STREAM("Rotation: "<<rot);
_v = rot * _v;
v.x = _v.x();
v.y = _v.y();
v.z = _v.z();
}
/**
* set discharge in all interior grid cells (i.e. except ghost layer)
* to values specified by parameter functions
* Note: unknowns hu and hv represent momentum, while parameters u and v are velocities!
*/
void SWE_Block::setDischarge(float (*_u)(float, float), float (*_v)(float, float)) {
for(int i=1; i<=nx; i++)
for(int j=1; j<=ny; j++) {
float x = offsetX + (i-0.5f)*dx;
float y = offsetY + (j-0.5f)*dy;
hu[i][j] = _u(x,y) * h[i][j];
hv[i][j] = _v(x,y) * h[i][j];
};
synchDischargeAfterWrite();
}
/**
* set discharge in all interior grid cells (i.e. except ghost layer)
* to values specified by parameter functions
* Note: unknowns hu and hv represent momentum, while parameters u and v are velocities!
*/
void SWE_Block::setDischarge(float (*_u)(float, float), float (*_v)(float, float)) {
for(int i=nghosts; i<nx+nghosts; i++)
for(int j=nghosts; j<ny+nghosts; j++) {
float x = offsetX + (i-nghosts+0.5f)*dx;
float y = offsetY + (j-nghosts+0.5f)*dy;
hu[i][j] = _u(x,y) * h[i][j];
hv[i][j] = _v(x,y) * h[i][j];
};
synchDischargeAfterWrite();
}
void
test1()
{
long double x = operator"" _v(1.2L);
assert(x == 2.2L);
std::string s = operator"" _w(u"one", 3);
assert(s == "boo");
unsigned u = operator"" _w("Hello, World!");
assert(u == 13U);
std::complex<double> i = operator"" _i(2.0);
assert(i == std::complex<double>(0.0, 2.0));
}
virtual bool update_particle(particle_id_pair const& pi_pair)
{
BOOST_ASSERT(removed_particles_.end() ==
removed_particles_.find(pi_pair.first));
std::pair<typename particle_id_pair_set_type::iterator, bool> r(
orig_particles_.insert(particle_id_pair(
pi_pair.first, particle_type())));
if (r.second &&
added_particles_.end() == added_particles_.find(pi_pair.first))
{
modified_particles_.push_no_duplicate(pi_pair.first);
particle_type _v(pc_.get_particle(pi_pair.first).second);
std::swap((*r.first).second, _v);
}
return pc_.update_particle(pi_pair);
}
bool update(value_type const& v)
{
iterator i(std::upper_bound(cntnr_.begin(), cntnr_.end(), v,
static_cast<TweakOrdering_ const&>(ord_)));
if (i != cntnr_.begin())
{
if (*--i == v)
{
value_type _v(v);
std::swap(*i, _v);
return false;
}
++i;
}
cntnr_.insert(i, v);
return true;
}
static void Ublas2Epetra( element_type const& x, vector_ptrtype& v )
{
epetra_vector_type& _v( dynamic_cast<epetra_vector_type&>( *v ) );
Epetra_Map v_map( _v.Map() );
DVLOG(2) << "Local size of ublas vector" << x.localSize() << "\n";
DVLOG(2) << "Local size of epetra vector" << v->localSize() << "\n";
const size_type L = v->localSize();
for ( size_type i=0; i<L; i++ )
{
DVLOG(2) << "v[" << v_map.GID( i ) << "] = "
<< "x(" << x.firstLocalIndex() + i << ")="
<< x( x.firstLocalIndex() + i ) << "\n";
v->set( v_map.GID( i ), x( x.firstLocalIndex() + i ) );
}
}
void TestGradient::mulVM02() {
Variable x;
Array<const ExprNode> _row1(x,ExprConstant::new_scalar(1));
Array<const ExprNode> _row2(ExprConstant::new_scalar(0),x);
const ExprVector& row1=ExprVector::new_(_row1,true);
const ExprVector& row2=ExprVector::new_(_row2,true);
Array<const ExprNode> _M(row1,row2);
const ExprVector& M=ExprVector::new_(_M,false);
Array<const ExprNode> _v(x,-x);
const ExprVector& v=ExprVector::new_(_v,true);
Function f(x,v*M);
IntervalVector box(1,Interval(3.0));
IntervalMatrix J=f.jacobian(box);
check(J[0][0],Interval(6));
check(J[1][0],Interval(-5));
CPPUNIT_ASSERT(J[0][0].is_superset(Interval(6)));
CPPUNIT_ASSERT(J[1][0].is_superset(Interval(-5)));
}
docItem::docItem(QList<int> _list, int _curr, int _doc, QWidget *parent):QDialog(parent){
ui.setupUi(this);
list = _list;
curr = _curr;
doc = _doc;
QSqlQuery _v(QString("select docs.vid from docs where docs.id = \'%1\'").arg(doc));
_v.next();
vid = _v.value(0).toInt();
ui.spinBox_id_book->hide();
ui.tableWidget_res->setColumnHidden(0, true);
ui.tableWidget_res->setColumnHidden(7, true);
ui.tableWidget_res->setColumnHidden(8, true);
if (vid == 1){
ui.tableWidget_res->setColumnHidden(6, true);
ui.radioButton_identifier->hide();
} else if (vid == 2){
ui.lineEdit_place->hide();
ui.label_3->hide();
ui.lineEdit_identifier->setReadOnly(true);
}
openItem();
readSetting();
connect(ui.pushButton_close, SIGNAL(clicked()), this, SLOT(close()));
connect(ui.lineEdit_search, SIGNAL(textEdited(QString)), this, SLOT(searchBook(QString)));
connect(ui.tableWidget_res, SIGNAL(doubleClicked(QModelIndex)), this, SLOT(selectBook()));
connect(ui.pushButton_save, SIGNAL(clicked()), this, SLOT(saveItem()));
connect(ui.pushButton_del, SIGNAL(clicked()), this, SLOT(deleteItem()));
connect(ui.pushButton_toFirst, SIGNAL(clicked()), this, SLOT(toFirst()));
connect(ui.pushButton_toLast, SIGNAL(clicked()), this, SLOT(toLast()));
connect(ui.pushButton_toNext, SIGNAL(clicked()), this, SLOT(toNext()));
connect(ui.pushButton_toPrev, SIGNAL(clicked()), this, SLOT(toPrev()));
}
virtual bool remove_particle(particle_id_type const& id)
{
std::pair<typename particle_id_pair_set_type::iterator, bool> r(
orig_particles_.insert(particle_id_pair(
id, particle_type())));
if (r.second)
{
particle_type _v(pc_.get_particle(id).second);
std::swap((*r.first).second, _v);
}
if (added_particles_.erase(id) == 0)
{
modified_particles_.erase(id);
const bool result(removed_particles_.push_no_duplicate(id));
BOOST_ASSERT(result);
}
else
{
orig_particles_.erase(id);
}
return pc_.remove_particle(id);
}
RH_C_FUNCTION void ON_Light_SetVector(ON_Light* pLight, ON_3DVECTOR_STRUCT v, int which)
{
const int idxDirection = 0;
//const int idxPerpendicularDirection = 1; // no set version - only "get"
const int idxLength = 2;
const int idxWidth = 3;
if( pLight )
{
ON_3dVector _v(v.val[0], v.val[1], v.val[2]);
switch(which)
{
case idxDirection:
pLight->SetDirection(_v);
break;
case idxLength:
pLight->SetLength(_v);
break;
case idxWidth:
pLight->SetWidth(_v);
break;
}
}
}
// \delta v = (I - h J_v - h^2 J_q)^{-1} (h a + h^2 J_q v)
// \delta q = h (\delta v + v)
void vpSystem::IntegrateDynamicsBackwardEuler(scalar time_step)
{
if ( m_pRoot->m_bIsGround )
{
int i, j, n = m_sState.size();
if ( !n ) return;
ForwardDynamics();
RMatrix _a(n,1), _v(n,1);
RMatrix _Jq(n,n), _Jv(n,n);
for ( i = 0; i < n; i++ )
{
_a[i] = m_sState[i].GetAcceleration();
_v[i] = m_sState[i].GetVelocity();
}
for ( i = 0; i < n; i++ )
{
m_sState[i].SetDisplacement(m_sState[i].GetDisplacement() + LIE_EPS);
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jq(j,i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
m_sState[i].SetDisplacement(m_sState[i].GetDisplacement() - LIE_EPS);
}
for ( i = 0; i < n; i++ )
{
m_sState[i].SetVelocity(m_sState[i].GetVelocity() + LIE_EPS);
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jv(j,i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
m_sState[i].SetVelocity(m_sState[i].GetVelocity() - LIE_EPS);
}
_Jq *= (time_step * time_step);
_Jv *= -time_step;
_Jv -= _Jq;
for ( i = 0; i < n; i++ ) _Jv[i*(n+1)] += SCALAR_1;
_a *= time_step;
_a += _Jq * _v;
SolveAxEqualB_(_Jv, _a);
for ( i = 0; i < n; i++ ) m_sState[i].SetVelocity(_v[i] + _a[i]);
_a += _v;
_a *= time_step;
for ( i = 0; i < n; i++ ) m_sState[i].SetDisplacement(m_sState[i].GetDisplacement() + _a[i]);
} else
{
int i, j, n = m_sState.size(), m = n + 6;
ForwardDynamics();
RMatrix _a(m,1), _v(m,1), _dx(m,1);
RMatrix _Jq(m,m), _Jv(m,m), _M = Eye<scalar>(m,m);
SE3 _T;
se3 gv(SCALAR_0);
for ( i = 0; i < n; i++ )
{
_a[i] = m_sState[i].GetAcceleration();
_v[i] = m_sState[i].GetVelocity();
}
memcpy(&_a[n], &m_pRoot->m_sDV[0], sizeof(se3));
memcpy(&_v[n], &m_pRoot->m_sV[0], sizeof(se3));
for ( i = 0; i < n; i++ )
{
m_sState[i].SetDisplacement(m_sState[i].GetDisplacement() + LIE_EPS);
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jq(j,i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
for ( j = 0; j < 6; j++ ) _Jq(n+j,i) = (m_pRoot->m_sDV[j] - _a[n+j]) / LIE_EPS;
m_sState[i].SetDisplacement(m_sState[i].GetDisplacement() - LIE_EPS);
}
for ( i = 0; i < 6; i++ )
{
gv[i] += LIE_EPS;
_T = m_pRoot->m_sFrame;
m_pRoot->m_sFrame *= Exp(gv);
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jq(j,n+i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
for ( j = 0; j < 6; j++ ) _Jq(n+j,n+i) = (m_pRoot->m_sDV[j] - _a[n+j]) / LIE_EPS;
m_pRoot->m_sFrame = _T;
gv[i] = SCALAR_0;
}
for ( i = 0; i < n; i++ )
{
m_sState[i].SetVelocity(m_sState[i].GetVelocity() + LIE_EPS);
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jv(j,i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
for ( j = 0; j < 6; j++ ) _Jv(n+j,i) = (m_pRoot->m_sDV[j] - _a[n+j]) / LIE_EPS;
m_sState[i].SetVelocity(m_sState[i].GetVelocity() - LIE_EPS);
}
for ( i = 0; i < 6; i++ )
{
m_pRoot->m_sV[i] += LIE_EPS;
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jv(j,n+i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
for ( j = 0; j < 6; j++ ) _Jv(n+j,n+i) = (m_pRoot->m_sDV[j] - _a[n+j]) / LIE_EPS;
m_pRoot->m_sV[i] -= LIE_EPS;
}
_Jq *= (time_step * time_step);
_Jv *= time_step;
_M -= _Jq;
_M -= _Jv;
_a *= time_step;
_a += _Jq * _v;
SolveAxEqualB(_M, _dx, _a);
for ( i = 0; i < n; i++ ) m_sState[i].SetVelocity(m_sState[i].GetVelocity() + _dx[i]);
for ( i = 0; i < 6; i++ ) m_pRoot->m_sV[i] += _dx[n+i];
_dx += _v;
_dx *= time_step;
for ( i = 0; i < n; i++ ) m_sState[i].SetDisplacement(m_sState[i].GetDisplacement() + _dx[i]);
m_pRoot->m_sFrame *= Exp(se3(_dx[n], _dx[n+1], _dx[n+2], _dx[n+3], _dx[n+4], _dx[n+5]));
}
Reparameterize();
}
SUMOReal
MSCFModel_Kerner::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, predSpeed), maxNextSpeed(speed, veh));
}
SUMOReal
MSCFModel_Kerner::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, 0), maxNextSpeed(speed, veh));
}
double
MSCFModel_Kerner::followSpeed(const MSVehicle* const veh, double speed, double gap, double predSpeed, double /*predMaxDecel*/, const MSVehicle* const /*pred*/) const {
return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, predSpeed), maxNextSpeed(speed, veh));
}
double
MSCFModel_Kerner::stopSpeed(const MSVehicle* const veh, const double speed, double gap) const {
return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, 0), maxNextSpeed(speed, veh));
}
// \delta v = (I - h J_v)^{-1} (h a)
// \delta q = h (\delta v + v)
void vpSystem::IntegrateDynamicsBackwardEulerFast(scalar h)
{
if ( m_pRoot->m_bIsGround )
{
int i, j, n = m_sState.size();
if ( !n ) return;
ForwardDynamics();
RMatrix _a(n,1), _v(n,1);
RMatrix _Jv(n,n);
for ( i = 0; i < n; i++ )
{
_a[i] = m_sState[i].GetAcceleration();
_v[i] = m_sState[i].GetVelocity();
}
for ( i = 0; i < n; i++ )
{
m_sState[i].SetVelocity(m_sState[i].GetVelocity() + LIE_EPS);
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jv(j,i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
m_sState[i].SetVelocity(m_sState[i].GetVelocity() - LIE_EPS);
}
RMatrix delv, A = Eye<scalar>(n) - h * _Jv;
SolveAxEqualB(A, delv, h * _a);
RMatrix delq = h * (delv + _v);
for ( i = 0; i < n; i++ )
{
m_sState[i].SetVelocity(m_sState[i].GetVelocity() + delv[i]);
m_sState[i].SetDisplacement(m_sState[i].GetDisplacement() + delq[i]);
}
} else
{
int i, j, n = m_sState.size(), m = n + 6;
ForwardDynamics();
RMatrix _a(m,1), _v(m,1);
RMatrix _Jv(m,m);
for ( i = 0; i < n; i++ )
{
_a[i] = m_sState[i].GetAcceleration();
_v[i] = m_sState[i].GetVelocity();
}
memcpy(&_a[n], &m_pRoot->m_sDV[0], sizeof(se3));
memcpy(&_v[n], &m_pRoot->m_sV[0], sizeof(se3));
for ( i = 0; i < n; i++ )
{
m_sState[i].SetVelocity(m_sState[i].GetVelocity() + LIE_EPS);
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jv(j,i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
for ( j = 0; j < 6; j++ ) _Jv(n+j,i) = (m_pRoot->m_sDV[j] - _a[n+j]) / LIE_EPS;
m_sState[i].SetVelocity(m_sState[i].GetVelocity() - LIE_EPS);
}
for ( i = 0; i < 6; i++ )
{
m_pRoot->m_sV[i] += LIE_EPS;
ForwardDynamics();
for ( j = 0; j < n; j++ ) _Jv(j,n+i) = (m_sState[j].GetAcceleration() - _a[j]) / LIE_EPS;
for ( j = 0; j < 6; j++ ) _Jv(n+j,n+i) = (m_pRoot->m_sDV[j] - _a[n+j]) / LIE_EPS;
m_pRoot->m_sV[i] -= LIE_EPS;
}
RMatrix delv, A = Eye<scalar>(m) - h * _Jv;
SolveAxEqualB(A, delv, h * _a);
RMatrix delq = h * (delv + _v);
for ( i = 0; i < n; i++ )
{
m_sState[i].SetVelocity(m_sState[i].GetVelocity() + delv[i]);
m_sState[i].SetDisplacement(m_sState[i].GetDisplacement() + delq[i]);
}
for ( i = 0; i < 6; i++ ) m_pRoot->m_sV[i] += delv[n+i];
m_pRoot->m_sFrame *= Exp(se3(delq[n], delq[n+1], delq[n+2], delq[n+3], delq[n+4], delq[n+5]));
}
Reparameterize();
}
double
MSCFModel_ACC::followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed, double /* predMaxDecel */, const MSVehicle* const /* pred */) const {
const double desSpeed = MIN2(veh->getLane()->getSpeedLimit(), veh->getMaxSpeed());
return _v(veh, gap2pred, speed, predSpeed, desSpeed, true);
}
STRONG_INLINE T operator()(size_t i, size_t j) const {
return _u(i,j) + _v(i,j);
}
SUMOReal
MSCFModel_Wiedemann::followSpeed(const MSVehicle* const veh, SUMOReal /* speed */, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
return _v(veh, predSpeed, gap2pred);
}
